CN220376289U - Pallet device, transfer robot and warehouse system - Google Patents

Abstract

The application provides a tray device, a transfer robot and a warehousing system, which relate to the technical field of intelligent warehousing and are used for solving the technical problem that trays cannot adapt to feed boxes with different sizes; the adjusting mechanism comprises two side baffle assemblies, a connecting rod and a rear baffle assembly, wherein the rear baffle assembly is arranged opposite to the material box taking/placing opening in the first direction, the connecting rod is arranged on one side, deviating from the material box taking/placing opening, of the rear baffle assembly, the two side baffle assemblies are oppositely arranged on two sides of the material box taking/placing opening and are hinged with the connecting rod, the two side baffle assemblies are in sliding connection with the tray in the second direction, and the rear baffle assembly drives the connecting rod to move along the first direction under the action of external force so that the connecting rod drives the two side baffle assemblies to move towards the direction approaching to each other in the second direction; wherein the second direction is perpendicular to the first direction. The utility model discloses a workbin of different sizes can be adapted to.

Description

Pallet device, transfer robot and warehouse system

Technical Field

The application relates to the technical field of intelligent storage, in particular to a tray device, a transfer robot and a storage system.

Background

Along with the rapid development of artificial intelligence technology, automation technology and information technology, the degree of intelligence of terminal logistics is continuously improved, and intelligent logistics terminals become the necessary trend of terminal logistics development. The robot is used as one of main equipment for realizing the carrying operation of the material box by the intelligent logistics terminal, so that the heavy manual labor of human beings can be greatly reduced.

In the related art, the transfer robot can get/put the workbin on the goods shelves, wherein, the transfer robot is including removing base, support frame, fork and basket on the back, the support frame is installed on removing base, fork and basket on the back are installed respectively on the support frame, be provided with the tray in fork and/or the basket on the back, the tray is used for bearing the workbin, wherein, the fork can be along vertical direction lift, also can be along the horizontal direction flexible relatively the support frame to take out the workbin from the goods shelves, perhaps transfer the workbin to on the goods shelves, the basket on the back can be with the workbin temporary storage on the transfer robot.

However, in the related art, the trays cannot be adapted to bins of different sizes, so that when the size of the tray is inconsistent with that of the bin, the position of the bin on the tray is easy to shift or shift, and thus the efficiency and the precision of the transfer robot are low during picking/placing.

Disclosure of Invention

In view of the above, embodiments of the present application provide a tray device, a transfer robot, and a warehouse system, which can adapt to bins of different sizes, and can avoid the problem that the bins of different sizes deviate or even float on a tray, so that the efficiency and the accuracy of the transfer robot in picking/placing goods can be improved.

In order to achieve the above purpose, the embodiment of the present application provides the following technical solutions:

in a first aspect, embodiments of the present application provide a tray apparatus, including:

a tray having a bin pick/place port in a first direction;

the adjusting mechanism comprises two side baffle assemblies, a connecting rod and a rear baffle assembly which are arranged on the tray; the rear baffle assembly is arranged opposite to the material box taking/placing port in the first direction, and the connecting rod is arranged on one side of the rear baffle assembly, which is away from the material box taking/placing port; the two side baffle assemblies are oppositely arranged at two sides of the material box taking/placing opening and hinged with the connecting rod, the two side baffle assemblies are in sliding connection with the tray in a second direction, and the rear baffle assembly is configured to drive the connecting rod to move along the first direction under the action of external force so that the connecting rod drives the two side baffle assemblies to move towards a direction approaching to or separating from each other in the second direction;

The first direction is the picking and placing direction of the feed box on the tray, and the second direction is mutually perpendicular to the first direction.

As an alternative embodiment, each side baffle assembly includes a side baffle and a baffle connecting member, one end of the baffle connecting member is hinged to the side baffle, the other end of the baffle connecting member is hinged to the connecting rod, the side baffle is slidably connected to the tray in a second direction, and when the connecting rod moves along the first direction, the connecting rod drives the side baffle to move in the second direction through the baffle connecting member.

As an alternative embodiment, the end of the side baffle facing the pick/place opening of the bin is provided with a guide portion which is inclined towards the side facing away from the bin.

As an optional implementation manner, the baffle connecting piece comprises a first connecting plate and a second connecting plate which are sequentially connected, an inclined included angle is formed between the first connecting plate and the second connecting plate, one end, far away from the second connecting plate, of the first connecting plate is hinged with the side baffle, and one end, far away from the first connecting plate, of the second connecting plate is hinged with the connecting rod.

As an alternative embodiment, the tailgate assembly includes a tailgate and a first elastic restoring member connected between the tailgate and the link, the first elastic restoring member configured to drive the tailgate to move toward an end far from the link in the first direction by an elastic force of the first elastic restoring member.

As an optional implementation manner, the first elastic restoring element is a first pressure spring, a first mounting column is arranged on an end face of the rear baffle, which faces one end of the connecting rod, a second mounting column is arranged on an end face of the connecting rod, which faces the rear baffle, and two ends of the first pressure spring are respectively sleeved with the first mounting column and the second mounting column.

As an alternative embodiment, the adjusting mechanism further comprises a guide seat, the guide seat is arranged on one side of the rear baffle assembly away from the material box taking/placing port,

the guide seat is provided with a guide hole extending along the first direction, and one end of the connecting rod, which is far away from the rear baffle plate assembly, is penetrated in the guide hole and can move along the guide hole.

As an alternative embodiment, the adjusting mechanism further comprises a flat plate guide rail, wherein the flat plate guide rail is horizontally arranged on the tray, and the two side baffle assemblies, the connecting rod, the rear baffle assembly and the guide seat are all arranged on the flat plate guide rail;

The utility model discloses a feed box, including the workbin, the workbin is located the workbin, the flat board guide rail is located the first direction, the one end that is kept away from of workbin pick-up/put mouth is provided with the installation guide rail, the installation guide rail is gone up along the first direction has a plurality of installation positions, the guide holder is optional install in a plurality of in the installation position one.

As an alternative embodiment, the flat plate rail is provided with a first rail in the first direction, and the surface of the back plate facing the first rail is provided with a first slider matched with the first rail, and the first slider is configured to move along the first rail.

As an alternative embodiment, the flat plate rail is provided with a second rail in the second direction, and a second slider matched with the second rail is arranged on the surface of each side baffle plate facing the second rail, and the second slider is configured to move along the second rail.

As an alternative embodiment, the adjusting mechanism further includes at least one second elastic restoring member, one end of the connecting rod, which is close to the tailgate, is provided with a mounting plate, at least one second elastic restoring member is connected between the mounting plate and the guide seat, and the second elastic restoring member is configured to drive the connecting rod to move toward one end of the material box pick-up/release opening through self elastic force, so that the connecting rod is restored.

As an optional implementation manner, two second elastic restoring pieces are provided, and the two second elastic restoring pieces are respectively and symmetrically arranged at two sides of the connecting rod;

and the mounting plate is provided with first installation department towards the one end of guide holder, the guide holder is provided with the second installation department towards the one end of mounting plate, the second elasticity resets and connects first installation department with between the second installation department.

As an alternative embodiment, the second elastic restoring element is a second compression spring; the first installation part and the second installation part are respectively one of an installation column or an installation hole, and two ends of the second pressure spring are respectively sleeved with the installation column or embedded in the installation hole.

As an alternative embodiment, the flat guide rail is provided with a guiding surface near the bin pick/place opening, the guiding surface is an inclined surface inclined towards the side far away from the bin, and the guiding surface is configured to guide the bin entering the bin pick/place opening.

In a second aspect, embodiments of the present application further provide a transfer robot, including: the lifting device is arranged on the supporting frame, the fork is arranged on one side of the supporting frame and adjacent to the lifting device, the fork can move in the vertical direction under the driving of the lifting device, the tray devices are arranged on the other side of the supporting frame, and at least one of the tray devices adopts the tray device.

As an alternative embodiment, the pallet fork is provided with a pallet means as described above.

In a third aspect, embodiments of the present application further provide a warehouse system, including a pallet device as described above or a handling robot as described above.

In the tray device, the transfer robot and the storage system provided by the embodiment of the application, the connecting rod is arranged at one side of the back baffle assembly, which is away from the material box taking/placing port, the two side baffle assemblies are oppositely arranged at two opposite sides of the material box taking/placing port and are hinged with the connecting rod, and the two side crotch assemblies are in sliding connection with the tray in the second direction, so that after the material box enters the tray, the material box collides and pushes the back baffle assembly to move in the first direction, the back baffle assembly pushes the connecting rod to move towards one side, which is far away from the material box taking/placing port, under the thrust action of the material box, and the connecting rod converts the movement along the first direction into the movement along the second direction in a mode of being hinged with the side baffle assemblies and the tray in a sliding connection mode, so that the side baffle assemblies at two sides are driven by the connecting rod to move towards directions close to each other in the second direction to clamp the material box, and therefore, the position of the two side baffle assemblies on the tray can be adjusted according to the size of the material box, so that the tray can adapt to the material boxes with different sizes; in addition, two side shield assemblies also can carry out spacingly to the workbin of putting into in the tray for the workbin is restricted to the central position on the second direction, prevents that the workbin from the offset of position on the tray, slope or drunkenness, avoids the risk that small-size workbin easily drops when the transport, improves the accuracy of location, and the inertial and vibrations feeding box when equipment such as transfer robot start-stop bring move, is favorable to improving transfer robot's efficiency and precision when getting/blowing.

In addition to the technical problems, technical features constituting the technical solutions, and beneficial effects brought by the technical features of the technical solutions described above, the pallet device, the transfer robot, and the warehouse system provided in the embodiments of the present application solve other technical problems, other technical features included in the technical solutions, and beneficial effects brought by the technical features, which are described in detail in the detailed description of the embodiments.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief description will be given below of the drawings that are needed in the embodiments or the prior art descriptions, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a tray device according to an embodiment of the present application;

fig. 2 is a schematic structural view of an adjusting mechanism in the tray device according to the embodiment of the present application;

FIG. 3 is an enlarged partial schematic view at A in FIG. 2;

FIG. 4 is a schematic view of a side baffle of the tray device according to the embodiment of the present application;

fig. 5 is a schematic structural view of a baffle plate connector in the tray device according to the embodiment of the present application;

FIG. 6 is a schematic view of a structure of a tailgate in a tray apparatus according to an embodiment of the disclosure;

fig. 7 is an exploded schematic view of a part of the structure of an adjusting mechanism in the tray device according to the embodiment of the present application;

FIG. 8 is an enlarged partial schematic view at B in FIG. 7;

fig. 9 is a schematic view of a use state of the tray device according to the embodiment of the present application;

fig. 10 is a schematic view illustrating another use state of the tray device according to the embodiment of the present application.

Reference numerals:

a 100-tray device; 10-a tray; 20-an adjusting mechanism;

a side dam assembly; 211-side baffles; 2111-guide;

2112-a second slider; 212-baffle connection; 2121-first connection plate;

2122-a second connection plate; 22-connecting rod; 221-a second mounting post;

222-mounting plate; 2221—a first mount; 23-a tailgate assembly;

231-a rear baffle; 2311-a first mounting post; 232-a first elastic return member;

233-a first slider; 24-a guide seat; 241-guide holes;

242-a second mounting portion; 25-a flat plate guide rail; 251-mounting a guide rail;

252-first rail; 253-a second rail; 254-guide surface;

26-a second elastic restoring member; 300-bin.

Detailed Description

In the related art, taking a goods shelf as an example, a carrying robot is used to take/put a material box on the goods shelf, wherein the carrying robot comprises a movable base, a supporting frame, a fork and a pack basket, the supporting frame is arranged on the movable base, the fork and the pack basket are respectively arranged on the supporting frame, a tray is arranged in the fork and/or the pack basket and is used for carrying the material box, the fork can lift along the vertical direction relative to the supporting frame and can also stretch and retract along the horizontal direction, so that the material box is taken out from the goods shelf, or the material box is transferred to the goods shelf, and the pack basket can temporarily store the material box on the carrying robot. In a scene that the fork takes out the bin, before the bin is moved to a position appointed by a goods shelf by a carrying robot, the carrying robot reads two-dimensional codes on the goods shelf and the bin, takes out the bin required by the fork after confirmation, and places the bin into a pack basket of the carrying robot; in the scene of storing the bins, before the carrying robot runs to the appointed position of the goods shelf, the corresponding bins are taken out of the pack basket by using the fork and put into the appointed position of the goods shelf. However, the size of the tray is fixed in the scheme, the tray cannot adapt to the bins with different specification sizes, in the process of picking and placing the bins, the phenomenon of final placement position deviation of the bins occurs in the mixed application scene of the bins with multiple sizes, when the deviation is large, the change of the posture of the bins on the tray can possibly cause the abnormal picking and placing of the bins next time, the efficiency and the accuracy of picking and placing the bins are affected, and when the size of the bins is small, the problem of the movement of the bins on the tray also promotes the risk of dropping of the bins in the moving process of the transfer robot.

In order to solve the problem, the application provides a tray device, transfer robot and warehouse system, can be according to the position of two side shield subassemblies on the size adjustment tray of workbin for the workbin of multiple equidimension can be adapted to the tray, in addition, two side shield subassemblies and backplate subassembly can also carry out spacingly to the workbin of putting into the tray, make the workbin limited in the ascending central point of second direction, prevent the offset of position, slope or the drunkenness of workbin on the tray, avoid the risk that small-size workbin easily drops when the transport, improve the accuracy of location, inertia and the amount of movement that vibrations feed box brought when equipment such as transfer robot start-stop, be favorable to improving transfer robot's efficiency and precision when getting/putting the workbin.

In order to make the above objects, features and advantages of the embodiments of the present application more comprehensible, the following description will make the technical solutions of the embodiments of the present application clear and complete with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, based on the embodiments herein, which are within the scope of the protection of the present application, will be within the purview of one of ordinary skill in the art without the exercise of inventive faculty.

Fig. 1 is a schematic structural view of a tray device according to an embodiment of the present application; fig. 2 is a schematic structural view of an adjusting mechanism in the tray device according to the embodiment of the present application; FIG. 3 is an enlarged partial schematic view at A in FIG. 2; FIG. 4 is a schematic view of a side baffle of the tray device according to the embodiment of the present application; fig. 5 is a schematic structural view of a baffle plate connector in the tray device according to the embodiment of the present application; FIG. 6 is a schematic view of a structure of a tailgate in a tray apparatus according to an embodiment of the disclosure; fig. 7 is an exploded schematic view of a part of the structure of an adjusting mechanism in the tray device according to the embodiment of the present application; FIG. 8 is an enlarged partial schematic view at B in FIG. 7; fig. 9 is a schematic view of a use state of the tray device according to the embodiment of the present application; fig. 10 is a schematic view illustrating another use state of the tray device according to the embodiment of the present application.

Referring to fig. 1 to 3, a tray apparatus 100 according to an embodiment of the present disclosure includes: a tray 10 and an adjusting mechanism 20 provided on the tray 10, the tray 10 having a bin pick/place port in a first direction, wherein a face of the tray 10 for storing the bin may be square as a whole, for example, may be rectangular; the bin pick/place port may be disposed at either end of the tray 10, for example, at the end of the shorter side of the rectangular tray 10, and accordingly, the first direction may be parallel to the longer side of the rectangular tray 10, the second direction may be parallel to the shorter side of the rectangular tray 10, and the first and second directions may be perpendicular to each other.

In some alternative embodiments, the adjustment mechanism 20 includes two side dam assemblies 21 disposed on the tray 10, a link 22, and a tailgate assembly 23, the tailgate assembly 23 being disposed opposite the bin access/discharge port in a first direction and being movable in the first direction, the link 22 being disposed on a side of the tailgate assembly 23 facing away from the bin access/discharge port and being movable in the first direction; the two side baffle assemblies 21 are oppositely arranged at two sides of the material box taking/placing opening and are hinged with the connecting rod 22, the two side baffle assemblies 21 and the tray 10 are in sliding connection in the second direction, namely, the side baffle assemblies 21 can slide on the tray 10 along the second direction, and the rear baffle assembly 23 is configured to drive the connecting rod 22 to move along the first direction under the action of external force, so that the connecting rod 22 drives the two side baffle assemblies 21 to move towards the directions approaching or separating from each other in the second direction.

In the above-mentioned solution, by disposing the connecting rod 22 on the side of the tailgate assembly 23 facing away from the bin pick/place opening, the two side barrier assemblies 21 are disposed on opposite sides of the bin pick/place opening and hinged to the connecting rod 22, and the two side barrier assemblies are slidably connected to the tray 10 in the second direction, so, when the bin 300 enters the tray 10, the bin 300 impacts and pushes the tailgate assembly 23 to move in the first direction, so that the tailgate assembly pushes the connecting rod 22 to move in the first direction towards the side facing away from the bin pick/place opening under the thrust of the bin 300, and the connecting rod 22 converts the movement in the first direction into the movement in the second direction by means of the hinge connection of the side barrier assemblies 21 and the tray 10, so that the side barrier assemblies 21 on both sides are moved in the second direction towards each other under the driving of the connecting rod 22 to clamp the bin 300, therefore, the position of the two side barrier assemblies 21 on the tray 10 can be adjusted according to the size of the bin 300, so that the tray 10 can adapt to the bins 300 of different sizes; in addition, the two side baffle assemblies 21 and the rear baffle assembly 23 can limit the bin 300 placed in the tray 10, so that the bin 300 is limited to the middle position in the second direction, the bin 300 is prevented from being shifted, inclined or moved on the tray 10, the risk that the bin 300 is easy to drop during carrying is avoided, the positioning accuracy is improved, the inertia of the carrying robot and other equipment during starting and stopping and the movement amount brought by vibrating the bin 300 are effectively reduced, and the efficiency and the accuracy of the carrying robot during taking/placing the bin 300 are improved.

In some alternative embodiments, each side baffle assembly 21 includes a side baffle 211 and a baffle connecting member 212, one end of the baffle connecting member 212 is hinged to the side baffle 211, the other end of the baffle connecting member 212 is hinged to the connecting rod 22, the side baffle 211 is slidably connected to the tray 10 in the second direction, when the rear baffle assembly 23 pushes the connecting rod 22 to move in the first direction towards the direction away from the picking/placing opening of the bin, the side baffles 211 on two sides respectively move in the second direction towards each other on the tray 10 under the driving of the connecting rod 22 through the baffle connecting members 212 corresponding to the side baffle assemblies, so that the distance between the two side baffle assemblies 21 is matched with the width of the bin 300 to limit the bin 300 between the two side baffles 211 and clamp the bin 300, thereby preventing the bin 300 from being shifted, tilted or shifted in the position on the tray 10, and improving the picking/placing efficiency and precision of the bin 300.

It will be appreciated that by hinging the two ends of the baffle connecting member 212 to the side baffle 211 and the link 22, respectively, such that when the baffle link 22 moves in the first direction, the two ends of the baffle connecting member 212 can rotate freely relative to the link 22 and the side baffle 211, respectively, so that the movement of the link 22 in the first direction can be smoothly converted into the movement of the side baffle 211 in the second direction, so as to adapt to the bins 300 with different sizes, and limit the bins 300 to the position in which the tray 10 is centered.

Wherein, two ends of the baffle connecting piece 212 can be respectively hinged with the connecting rod 22 and the side baffle 211 through hinges; alternatively, the two ends of the baffle connecting member 212 may be hinged to the connecting rod 22 and the side baffle 211 through rotating shafts, for example, in fig. 5, the two ends of the baffle connecting member 212 are respectively provided with shaft sleeves, and correspondingly, the end, connected to the baffle connecting member 212, of the side baffle 211 is also provided with a shaft sleeve matched with the end, when the shaft sleeve on the baffle connecting member 212 is aligned with the shaft sleeve on the side baffle 211, the rotating shaft is inserted into the shaft sleeve to realize the hinge connection between the side baffle 211 and the baffle connecting member 212, and the hinge connection principle between the connecting rod 22 and the baffle connecting member 212 through rotating shafts is the same as the hinge connection principle between the baffle connecting member 212 and the side baffle 211, which is not described herein.

In some alternative embodiments, referring to fig. 4, the side baffle 211 may have a plate-like structure, and one end of the side baffle 211 facing the bin pick/place port has a guide portion 2111, and the guide portion 2111 is inclined toward a side away from the bin 300, so that the guide portion 2111 guides the bin 300 when the bin 300 is entering the tray 10, and in addition, by setting the guide portion 2111 to be inclined toward a side away from the bin 300, a phenomenon of a frontal collision between the bin 300 and the side baffle 211 can be reduced.

In some alternative embodiments, referring to fig. 5, the baffle connection member 212 includes a first connection plate 2121 and a second connection plate 2122 connected in sequence, wherein an inclined angle is formed between the first connection plate 2121 and the second connection plate 2122, one end of the first connection plate 2121 away from the second connection plate 2122 is hinged to the side baffle 211, and one end of the second connection plate 2122 away from the first connection plate 2121 is hinged to the connection rod 22.

In this application, the first connection plate 2121 and the second connection plate 2122 have an inclined included angle therebetween, so, through the turning of the first connection plate 2121 and the second connection plate 2122, the side baffle 211 hinged to the first connection plate 2121 is arranged on the tray 10 in a state extending along the first direction, so that when the side baffles 211 on two sides clamp the bin 300 in directions approaching to each other, the accuracy of the position of the bin 300 on the tray 10 can be improved, and the phenomenon that the position of the bin 300 on the tray 10 is inclined due to the inclination of the side baffle 211 is avoided.

The inclined included angle between the first connecting plate 2121 and the second connecting plate 2122 can be adaptively designed according to actual requirements, so long as the side baffle 211 and the connecting rod 22 can be placed in parallel at different positions in the first direction through the turning connection of the first connecting plate 2121 and the second connecting plate 2122, and the specific angle is not limited herein.

In addition, the first connection plate 2121 and the second connection plate 2122 may be detachably connected, or may be formed as an integral structure by welding, bonding, or integrally forming, and in addition, the first connection plate 2121 and the second connection plate 2122 may be made of a metal material, or may be made of a non-metal material with better strength, which is not particularly limited.

In some alternative embodiments, the tailgate assembly 23 includes a tailgate 231 and a first resilient return member 232, the first resilient return member 232 being connected between the tailgate 231 and the link 22, the first resilient return member 232 being configured to drive the tailgate 231 in a first direction toward an end remote from the link 22 by its own resilience.

The rear baffle 231 may be a plate structure made of metal or nonmetal, and the rear baffle 231 has a contact surface that can be abutted against the bin 300, and the contact surface may be a plane perpendicular to the carrying surface of the tray 10.

In addition, by providing the first elastic restoring member 232 between the tailgate 231 and the link 22, when the tailgate 231 is pushed by the bin 300 to move toward the link 22, the first elastic restoring member 232 is gradually compressed until the first elastic restoring member 232 is completely compressed when the tailgate 231 is pushed by the bin 300 to move toward the link 22, at this time, the first elastic restoring member 232 after the tailgate 231 is compressed transmits the pushing force thereof to the link 22 through the first elastic restoring member 232 to push to the link 22 to move toward the side away from the bin 300, and after the bin 300 is removed, the tailgate 231 is restored by the elastic force of the first elastic restoring member 232 itself to move toward the side away from the link 22, and after the tailgate 231 is restored, the first elastic restoring member 232 is in a free state.

For example, as shown in fig. 3, the first elastic restoring member 232 may include, but is not limited to, a first compression spring, for example, the first compression spring may be a compression spring with a spiral circumference, wherein the appearance of the first compression spring may be cylindrical or in a shape of a circular table, etc., and both ends of the first compression spring are respectively connected with the back plate 231 and the connecting rod 22.

In some alternative embodiments, the end surface of the rear baffle 231 facing the end of the link 22 is provided with a first mounting post 2311, the end surface of the link 22 facing the rear baffle 231 is provided with a second mounting post 221, and two ends of the first compression spring are respectively sleeved with the first mounting post 2311 and the second mounting post 221.

The size of the cross section of the first mounting post 2311 is matched with the inner diameter size of the first end of the first compression spring, the size of the cross section of the second mounting post 221 is matched with the inner diameter size of the second end of the first compression spring, the first end of the first compression spring is sleeved with the first mounting post 2311, the second end of the first compression spring is sleeved with the second mounting post 221, for example, the first compression spring is a cylindrical spiral compression spring, and the shape of the cross section of the first mounting post 2311 and the shape of the cross section of the second mounting post 221 can be circular matched with the shape of the cross section of the inner diameter of the first compression spring.

In some alternative embodiments, referring to fig. 7 and 8, the adjusting mechanism 20 further includes a guide seat 24, where the guide seat 24 is disposed on a side of the tailgate assembly 23 away from the bin pick/place opening, the guide seat 24 has a guide hole 241 extending along a first direction, and an end of the link 22 away from the tailgate assembly 23 is disposed through the guide hole 241 and is movable along the guide hole 241, so that the guide hole 241 guides movement of the link 22 when the link 22 moves along the first direction. Wherein the cross-sectional shape of the guide hole 241 may be matched with the cross-sectional shape of the connecting rod 22.

In some alternative embodiments, the adjustment mechanism 20 further includes a flat rail 25, the flat rail 25 being horizontally disposed on the tray 10, and the two side dam assemblies 21, the link 22, the tailgate assembly 23, and the guide shoes 24 being disposed on the flat rail 25; wherein, the end of the flat plate guide rail 25 far away from the material box pick-up/put-off opening in the first direction is provided with a mounting guide rail 251, a plurality of mounting positions are arranged on the mounting guide rail 251 along the first direction, and the guide seat 24 can be selectively arranged on one of the plurality of mounting positions.

In the above-mentioned scheme, through setting up the installation guide rail 251 to set up a plurality of installation positions on the installation guide rail 251, the guide holder 24 can selectively install on one of a plurality of installation positions, thereby make adjustment mechanism 20 adjustable in the initial position of first direction to adapt to different application occasion or size different workbin 300, after adjustment mechanism 20's initial position confirms, can be through screw, screw or screw thread connecting piece detachable fixed mounting with guide holder 24 on corresponding installation position.

In some alternative embodiments, as shown in fig. 7, the flat plate rail 25 is provided with a first rail 252 in a first direction, and it is understood that the first rail 252 may include a first sliding groove extending along the first direction, and the surface of the back plate 231 facing the first rail 252 is provided with a first sliding block 233 matching the first rail 252, and when the back plate 231 moves in the first direction, the first sliding block 233 is disposed in the first sliding groove and moves along the first sliding groove to guide the movement of the back plate 231 in the first direction, so as to improve the accuracy of the movement of the back plate 231 in the first direction, and avoid the offset of the back plate 231 during the movement.

For example, the first slider 233 may be circular, elliptical, rectangular, etc. in cross-sectional shape, as in fig. 6, the first slider 233 is a cylindrical protrusion disposed at the bottom of the tailgate 231.

In some alternative embodiments, referring to fig. 7, the flat plate rail 25 is provided with a second rail 253 in the second direction, and a second slider 2112 matching the second rail 253 is provided on a surface of each side baffle 211 facing the second rail 253, and the second slider 2112 is configured to move along the second rail 253.

Illustratively, the second rail 253 includes a second chute extending in the second direction on the plate surface of the flat rail 25, the second slider 2112 is disposed at the bottom of the side baffle 211, the second slider 2112 is disposed in the second chute, and when the link 22 moves in the first direction, the force transmitted to the side baffle 211 by the link 22 drives the side baffle 211 to move along the second chute to guide the movement of the side baffle 211 in the second direction, so as to prevent the side baffle 211 from being shifted to cause the position of the bin 300 to be shifted.

The cross-sectional shape of the second slider 2112 may be circular, elliptical, rectangular, etc., and the second slider 2112 is illustratively a cylindrical protrusion having a circular cross-sectional shape in fig. 4.

In some alternative embodiments, the adjusting mechanism 20 further includes at least one second elastic restoring member 26, where a mounting plate 222 is disposed at an end of the connecting rod 22 near the rear baffle 231, and the at least one second elastic restoring member 26 is connected between the mounting plate 222 and the guide seat 24, and when the bin 300 moves to the placement position of the tray 10, the second elastic restoring member 26 is in a compressed state, so that, after the bin 300 is removed, the second elastic restoring member 26 is configured to drive the connecting rod 22 to move toward an end of the pick/place opening of the bin by self elastic force, so that the connecting rod 22 is restored, without manual restoration, and the structure is simple and low in cost.

For example, as in fig. 8, the mounting plate 222 and the link 22 may be an integral structure formed by an integral molding process, so that the mounting process may be reduced, thereby reducing the mounting cost.

In some alternative embodiments, as shown in fig. 3, two second elastic restoring members 26 are provided, and the two second elastic restoring members 26 are symmetrically disposed on two sides of the connecting rod 22, so that restoring elastic forces for driving the connecting rod 22 to restore on two sides of the connecting rod 22 are balanced, and thus the problem that the connecting rod 22 is deflected due to uneven elastic forces during restoring is avoided.

In addition, as shown in fig. 7 and 8, a first mounting portion 2221 is disposed at an end of the mounting plate 222 facing the guide seat 24, a second mounting portion 242 is disposed at an end of the guide seat 24 facing the mounting plate 222, and the second elastic restoring member 26 is connected between the first mounting portion 2221 and the second mounting portion 242, and the second elastic restoring member 26 is illustratively a second compression spring; the first mounting portion 2221 and the second mounting portion 242 are each one of a mounting post or a mounting hole, and two ends of the second compression spring are respectively sleeved with the mounting post or embedded in the mounting hole. For example, in fig. 8, the first mounting portion 2221 is a cylindrical mounting post, the second mounting portion 242 is a mounting hole with a circular cross-section, the second compression spring is a cylindrical spiral compression spring, one end of the second compression spring is embedded in the mounting hole, and the other end of the second compression spring is sleeved on the mounting post.

In some alternative embodiments, the plate rail 25 is provided with a guide surface 254 near the bin pick/place port, the guide surface 254 being a sloped surface sloping away from the bin 300, the guide surface 254 being configured to guide the bin 300 into the bin pick/place port, it being appreciated that by providing the guide surface 254, the resistance of the bin 300 in entering the tray 10 may be reduced so that the bin 300 may smoothly enter the tray 10.

The principle of the tray apparatus 100 when in use will be described below by taking the different size bins 300 as examples.

In one embodiment, referring to fig. 9, for example, taking a small-sized bin 300 as an example, for example, a rectangular bin 300 with a size of 200mm x300mm of the bin 300, when the bin 300 with a small size enters the tray 10 and then the bin 300 impacts on the rear baffle 231, the rear baffle 231 pushes the link 22 to move towards a side far from the rear baffle 231 in the guide hole 241 of the guide seat 24 under the thrust of the bin 300 when the bin 300 continues to move towards the tray 10, and when the link 22 moves, the link 22 drives the side baffle 211 to move through the baffle connector 212, and because the side baffle 211 is slidingly connected with the tray 10 in the second direction, the movement of the link 22 along the first direction is converted into the movement of the side baffle 211 along the second direction, so that the side baffles 211 on both sides move towards each other to clamp the bin 300, limiting the small-sized bin 300 to the central position of the tray 10 and preventing the position of the bin 300 in the tray 10 from shifting or tilting.

In another embodiment, referring to fig. 10, for example, a rectangular bin 300 with a size of 450mm x650mm is taken as an example of a large-sized bin 300, when the bin 300 enters the tray 10, the bin 300 impacts against the rear baffle, and when the side baffle 211 clips the side of the bin 300 until the bin 300 cannot move, the bin 300 drives the side baffle assembly 21 to move towards the guide seat 24 in the first direction because the bin 300 is not placed at the corresponding position, and the second reset elastic member is in a compressed state; when the bin 300 is removed, the second return spring drives the link 22 back to return the side dam assembly 21.

In summary, the positions of the two side baffle assemblies can be adjusted according to the size of the feed box, so that the tray can be adapted to feed boxes with different sizes; in addition, two side shield assemblies and backplate subassembly also can carry out spacingly to the workbin of putting into in the tray for the workbin is restricted to the central position on the second direction, prevents that the workbin from the offset of position on the tray, slope or drunkenness, avoids the risk that small-size workbin easily drops when the transport, improves the accuracy of location, and the effectual inertia and the motion that vibrations feed box brought when equipment such as transfer robot start-stop of reduction are favorable to improving transfer robot's efficiency and precision when getting/putting the workbin.

The embodiment of the application also provides a transfer robot, including support frame, elevating gear, fork and a plurality of tray device, elevating gear sets up on the support frame, and the fork setting is in one side of support frame and adjacent with elevating gear, and the fork can be under elevating gear's drive along vertical direction removal, and a plurality of tray device sets up the opposite side at the support frame, and at least one of a plurality of tray devices adopts the tray device of above-mentioned embodiment.

Specifically, the support frame includes base and stand, and the stand is vertical to be fixed in on the base, and elevating gear sets up on the stand, and elevating gear can follow vertical direction setting on the stand for example, and elevating gear can include actuating mechanism and transport mechanism, and actuating mechanism is used for driving transport mechanism and moves along vertical direction, and actuating mechanism can be motor etc. for example, and transport mechanism can be belt drive mechanism, chain drive mechanism or gear drive mechanism etc. for example. The forks are arranged on one side of the upright column for picking/placing the bin through the forks, wherein the forks can be connected with the conveying mechanism, for example, the forks are arranged on the conveying mechanism for lifting and moving along the vertical direction along with the conveying mechanism. The plurality of tray devices are arranged on the other side of the upright post, namely the plurality of tray devices are arranged opposite to the pallet fork, wherein the plurality of tray devices are arranged on the upright post at intervals along the vertical direction to form a multi-layer structure, the tray devices are used for temporarily storing the material box, and at least one of the plurality of tray devices can adopt the tray devices in the embodiment so as to adapt to the material boxes with various different specifications and sizes.

In some alternative embodiments, a pallet device is provided in the pallet fork, and the pallet device can also be used in the pallet device of the above embodiments to adapt to the bins of different specifications and sizes.

According to the transfer robot provided by the embodiment of the application, due to the fact that the tray device is arranged, the positions of the two side baffle assemblies can be adjusted according to the size of the material box, so that the tray can be adapted to the material boxes with different sizes; in addition, two side shield assemblies and backplate subassembly also can carry out spacingly to the workbin of putting into in the tray for the workbin is restricted to the central position on the second direction, prevents that the workbin from the offset of position on the tray, slope or drunkenness, avoids the risk that small-size workbin easily drops when the transport, improves the accuracy of location, and the effectual inertia and the motion that vibrations feed box brought when equipment such as transfer robot start-stop of reduction are favorable to improving transfer robot's efficiency and precision when getting/putting the workbin.

The embodiment of the application also provides a warehouse system, which comprises a goods shelf, the carrying robot of the embodiment and a channel for the carrying robot to move, wherein the carrying robot can move to a goods shelf side to fetch/discharge the goods in the channel.

The warehousing system of the embodiment of the application adopts the carrying robot, so that the storage system can carry out picking/placing operations on the feed boxes with different specifications and sizes, and is beneficial to improving the efficiency and the precision of the carrying robot.

In this specification, each embodiment or implementation is described in a progressive manner, and each embodiment focuses on a difference from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims (17)

1. A tray device, comprising:

a tray having a bin pick/place port in a first direction;

the adjusting mechanism comprises two side baffle assemblies, a connecting rod and a rear baffle assembly which are arranged on the tray; the rear baffle assembly is arranged opposite to the material box taking/placing port in the first direction, and the connecting rod is arranged on one side of the rear baffle assembly, which is away from the material box taking/placing port; the two side baffle assemblies are oppositely arranged at two sides of the material box taking/placing opening and are hinged with the connecting rod, the two side baffle assemblies are in sliding connection with the tray in a second direction, and the rear baffle assembly is configured to drive the connecting rod to move along the first direction under the action of external force so that the connecting rod drives the two side baffle assemblies to move towards a direction approaching to or away from each other in the second direction;

the first direction is the picking and placing direction of the feed box on the tray, and the second direction is mutually perpendicular to the first direction.

2. The tray device of claim 1, wherein each of the side dam assemblies includes a side dam and a dam connector, one end of the dam connector being hinged to the side dam, the other end of the dam connector being hinged to the link, the side dam being slidably connected to the tray in a second direction, the link moving in the first direction, the link moving the side dam in the second direction through the dam connector.

3. The tray device according to claim 2, wherein an end of the side shield facing the bin pick/place port has a guide portion that is inclined toward a side away from the bin.

4. The tray device according to claim 2, wherein the baffle connecting member comprises a first connecting plate and a second connecting plate which are sequentially connected, an inclined included angle is formed between the first connecting plate and the second connecting plate, one end, far away from the second connecting plate, of the first connecting plate is hinged with the side baffle, and one end, far away from the first connecting plate, of the second connecting plate is hinged with the connecting rod.

5. The tray device of any one of claims 2-4, wherein the tailgate assembly includes a tailgate and a first resilient return member connected between the tailgate and the link, the first resilient return member configured to drive the tailgate in the first direction toward an end remote from the link by its own resilience.

6. The tray device according to claim 5, wherein the first elastic restoring member is a first compression spring, a first mounting post is disposed on an end face of the back plate facing the connecting rod, a second mounting post is disposed on an end face of the connecting rod facing the back plate, and two ends of the first compression spring are respectively sleeved with the first mounting post and the second mounting post.

7. The tray apparatus according to claim 5, wherein the adjusting mechanism further comprises a guide holder provided at a side of the tailgate assembly remote from the bin pick/place port,

the guide seat is provided with a guide hole extending along the first direction, and one end of the connecting rod, which is far away from the rear baffle plate assembly, is penetrated in the guide hole and can move along the guide hole.

8. The tray device of claim 7, wherein the adjustment mechanism further comprises a flat rail horizontally disposed on the tray, both the side dam assemblies, the link, the tailgate assembly, and the guide shoes being disposed on the flat rail;

the utility model discloses a feed box, including the workbin, the workbin is located the workbin, the flat board guide rail is located the first direction, the one end that is kept away from of workbin pick-up/put mouth is provided with the installation guide rail, the installation guide rail is gone up along the first direction has a plurality of installation positions, the guide holder is optional install in a plurality of in the installation position one.

9. The tray device of claim 8, wherein the flat rail is provided with a first rail in the first direction, and the surface of the tailgate facing the first rail is provided with a first slider mated with the first rail, the first slider configured to move along the first rail.

10. The tray device of claim 8, wherein the flat plate rail is provided with a second rail in the second direction, and a second slider is provided on a surface of each of the side guards facing the second rail, the second slider being configured to move along the second rail.

11. The tray device according to claim 7, wherein the adjusting mechanism further comprises at least one second elastic restoring member, a mounting plate is disposed at an end of the connecting rod adjacent to the rear baffle, the at least one second elastic restoring member is connected between the mounting plate and the guide holder, and the second elastic restoring member is configured to drive the connecting rod to move toward an end of the bin pick/place port by self elastic force so as to restore the connecting rod.

12. The tray device according to claim 11, wherein the number of the second elastic restoring members is two, and the two second elastic restoring members are symmetrically arranged at two sides of the connecting rod respectively;

and the mounting plate is provided with first installation department towards the one end of guide holder, the guide holder is provided with the second installation department towards the one end of mounting plate, the second elasticity resets and connects first installation department with between the second installation department.

13. The tray device of claim 12, wherein the second resilient return member is a second compression spring; the first installation part and the second installation part are respectively one of an installation column or an installation hole, and two ends of the second pressure spring are respectively sleeved with the installation column or embedded in the installation hole.

14. The tray device according to claim 8, wherein the flat guide rail is provided with a guide surface near the bin pick/place port, the guide surface being a slope inclined toward a side away from the bin, the guide surface being configured to guide a bin entering the bin pick/place port.

15. A transfer robot, characterized by comprising a support frame, a lifting device, a fork and a plurality of tray devices, wherein the lifting device is arranged on the support frame, the fork is arranged on one side of the support frame and is adjacent to the lifting device, the fork can move along the vertical direction under the driving of the lifting device, the tray devices are arranged on the other side of the support frame, and at least one of the tray devices adopts the tray device as claimed in any one of claims 1-14.

16. The transfer robot of claim 15, wherein the pallet means of any one of claims 1-4 is disposed within the pallet fork.

17. A warehousing system comprising a transfer robot according to claim 15 or 16.